Laminating and discharging mechanical arm for hydrogen fuel cell production

Abstract

The invention relates to the technical field of hydrogen fuel cell production, in particular to an attaching and discharging mechanical arm for hydrogen fuel cell production, which comprises a movable discharging device mounted on a movable mechanical arm, the movable discharging device comprises a stacking limiting frame, and a plurality of limiting feeding holes are formed in the side part of the stacking limiting frame; a stacking detection area is arranged in the stacking limiting frame, a plurality of inspection openings are formed in the side portion of the stacking detection area, a visual inspection camera is installed at the position of each inspection opening, an attaching pushing and pressing mechanism for pushing plates to move downwards is installed above the stacking limiting frame, and a clamping regulation and control device is installed on the stacking limiting frame. According to the plate clamping and adjusting device, the production quality can be effectively improved, waste is avoided, and meanwhile the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of hydrogen fuel cell production, and specifically relates to a laminating and feeding robot for hydrogen fuel cell production. Background Art

[0002] As an energy conversion device, for a hydrogen fuel cell, the precise lamination and sealing of its core component, the bipolar plate (including the hydrogen plate and the air plate), is a key process to ensure the battery performance. With the rapid development of the hydrogen energy industry, the large-scale production of electrode plates has put forward higher requirements for automation equipment.

[0003] Chinese Patent No. CN211017243U discloses a device for dispensing and laminating hydrogen fuel cell electrode plates. The device includes a multi-functional platform, a first conveying mechanism, a first handling robot, a dispensing mechanism, a Y-axis robot, an X-axis robot, a laminating and pressure-holding jig, a handling robot, a second conveying mechanism, a second calibration mechanism, a third conveying mechanism, a second handling robot, and a controller. Among them, the dispensing mechanism includes a dispenser and a visual acquisition device. The above patent provides an automated device for the lamination production of graphite plates and the dispensing and sealing of electrode plates, realizing the automated synthesis of graphite plates and the automated dispensing of electrode plates, being suitable for large-scale mechanized production, improving the production efficiency of products. And through the glue strip formed by dispensing, the sealing method has good performance and is beneficial to improving the product quality.

[0004] Although the above device can automatically handle the hydrogen plate and the air plate through the first handling robot, in the existing production process, although the automated handling of the hydrogen plate and the air plate is achieved, during the handling and moving process, the dispensing surface of the plate is extremely likely to remain with dust or foreign matters. This is because the production environment is not an absolutely dust-free environment, and tiny particles in the air, debris generated by friction during handling, etc. may adhere to the surface of the plate. If these dust and foreign matters are not effectively removed, in the subsequent dispensing and laminating process, it will seriously affect the bonding effect between the glue and the plate surface.

[0005] In the production and manufacturing process of hydrogen plates and air plates, factors such as raw material quality fluctuations and processing technology differences are likely to cause quality hazards of uneven plates. Although the existing production equipment has the function of detecting the flatness of plates, in the actual detection process, there are generally positive and negative deviation values in the flatness data of plates, and the deviation values of plates may be further increased during transportation. When the hydrogen plate and the air plate are attached to each other, if the deviation value directions of the two plates are opposite, that is, one is a positive deviation and the other is a negative deviation, it will lead to uneven distribution of gaps during dispensing and bonding. Such uneven gaps will have a serious impact on product quality: if the gap is too large, the glue cannot fully and effectively fill the gap, greatly reducing the connection strength between the plates. During the operation of the battery, the connection part may become loose due to uneven stress or external environmental factors, thereby affecting the overall performance and stability of the battery. If the gap is too small, in the subsequent use stage, since heat is generated during the operation of the battery, it will cause the plates to thermally expand. At this time, the originally small gap cannot provide enough space for the expansion of the plates, and stress concentration will occur between the plates. As the stress accumulates, it may eventually cause the plates to rupture, not only damaging the battery but also possibly triggering safety accidents. Summary of the Invention

[0006] In view of the above problems, a fitting and feeding robotic arm for hydrogen fuel cell production is provided. By means of the moving feeding device, the production quality can be effectively improved, waste can be avoided, and the production efficiency can be increased at the same time.

[0007] To solve the problems of the existing technology, the present invention provides a fitting and feeding robotic arm for hydrogen fuel cell production, which includes a moving feeding device installed on a moving robotic arm. The moving feeding device includes a stacking limit frame. A plurality of limit feeding ports are provided on the side of the stacking limit frame. A stacking detection area is provided inside the stacking limit frame. A plurality of inspection ports are provided on the side of the stacking detection area. A vision detection camera is installed at each inspection port position. A fitting and pressing mechanism for pushing the sheet material downward is installed above the stacking limit frame. A clamping and regulating device is installed on the stacking limit frame. The clamping and regulating device has two clamping ends for clamping the sheet material.

[0008] Preferably, the clamping and regulating device includes upper clamping frames installed on both sides of the stacking limit frame. A blocking clamping plate is installed below each upper clamping frame. Both the blocking clamping plate and the upper clamping frame are slidably connected to the stacking limit frame. The clamping and regulating device further includes a pushing and switching component for driving the blocking clamping plate and the upper clamping frame to move telescopically.

[0009] Preferably, the pushing and switching component includes a plurality of elastic reset heads distributed on the blocking and clamping plate and the upper clamping frame. Each elastic reset head is provided with a mounting rod that abuts against the stacking limit frame. A first spring is installed between the mounting rod and the elastic reset head. The pushing and switching component further includes a synchronous control frame for pushing the elastic reset head to move.

[0010] Preferably, two feeding clamping components are installed on the limiting feeding port. The feeding clamping component includes a mounting bracket installed on the side of the stacking limit frame. Two movable clamping heads extending towards the limiting feeding port are installed on the mounting bracket. The movable clamping head is provided with a guiding bevel and a limiting bevel. A second spring is installed between each movable clamping head and the mounting bracket.

[0011] Preferably, the fitting and pushing mechanism includes a horizontal push plate installed inside the stacking limit frame. The horizontal push plate moves up and down inside the stacking limit frame. A flexible layer and a first pressure sensor are further provided on the abutting surface of the horizontal push plate.

[0012] Preferably, the moving material discharging device further includes a dust cleaning and feeding device installed beside the moving robotic arm. The dust cleaning and feeding device includes an adsorption and cleaning device. Plate material conveying devices are provided on both sides of the adsorption and cleaning device. A dust cleaning discharge head is installed at the discharge end of the adsorption and cleaning device.

[0013] Preferably, the adsorption and cleaning device includes a pushing and limiting tool. A middle cleaning area is provided inside the pushing and limiting tool. Plate material placement areas are provided on both sides of the middle cleaning area. The middle cleaning area is communicated with the plate material placement areas. A discharge port is provided on one side of the plate material placement area. Pushing inserting plates for pushing the plate material to move are installed inside the plate material placement areas. A moving adsorption head is installed inside the middle cleaning area.

[0014] Preferably, a positioning column for guiding the stacking limit frame is provided on the upper side of the dust cleaning discharge head. A plurality of material guiding channels are provided inside the dust cleaning discharge head. An installation channel is further provided inside the dust cleaning discharge head. The installation channel is communicated with the material guiding channels. A detachable secondary dust cleaning component is installed inside the installation channel. The cleaning end of the secondary dust cleaning component extends towards the material guiding channels.

[0015] Preferably, the secondary dust cleaning component includes two fixed mounting seats. The two fixed mounting seats are respectively installed at the upper and lower ends of the installation channel. Two movable seats are provided on each fixed mounting seat. A third spring is installed between each movable seat and the fixed mounting seat. Dust sticking rollers are installed on the movable seats.

[0016] Preferably, the plate material conveying device includes a material guiding slide rail for limiting and placing the plate material. A horizontally moving pressing push plate is installed inside the material guiding slide rail. A second pressure sensor is installed on the pressing push plate.

[0017] The beneficial effects of the present invention compared with the prior art are:

[0018] 1. The bonding and unloading robot arm used in the production of hydrogen fuel cells uses a visual inspection camera to collect multi-view images of the bonding gap between the hydrogen plate and the air plate during the bonding process, and accurately analyzes the gap size distribution based on a machine vision algorithm. Once the gap deviation is detected to exceed the preset threshold, the system can quickly determine it as unqualified and transfer the unqualified panels to the processing area in time to prevent them from flowing into subsequent processes. The strict inspection mechanism ensures that only panels with bonding quality that meets the standards can enter the subsequent production links, greatly reducing the quality risk of insufficient connection strength due to uneven gaps.

[0019] 2. The cleaning and feeding device equipped with the robot arm realizes the automatic cleaning and feeding operations of the hydrogen plate and the air plate, which significantly improves the production efficiency and accuracy. The mobile robot arm can accurately move the stacking limit frame to the side of the cleaning discharge head to achieve the precise docking of the limit feed port and the discharge end of the cleaning discharge head. The plate conveying device conveys the plates to both sides of the adsorption cleaning device according to the preset rhythm. The adsorption cleaning device uses negative pressure adsorption to efficiently remove dust, impurities and other pollutants on the surface of the plates to ensure the cleanliness of the plate bonding surface. After the cleaning process is completed, the cleaning discharge head uses its guiding function to guide the plates to be accurately inserted into the limit feed port and enter the stacking limit frame in the correct posture and position. The entire process does not require frequent manual intervention, reduces errors caused by human factors, realizes efficient automation of cleaning and feeding operations, and provides strong support for large-scale production.

[0020] 3. This robot arm optimizes the hydrogen fuel cell production process and improves resource utilization efficiency through reasonable design and precise control. In the fit detection stage, it can quickly identify and remove unqualified panels, avoiding ineffective processing of unqualified products in subsequent processes and reducing the waste of raw materials and time. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional schematic diagram of a bonding and unloading mechanical arm for hydrogen fuel cell production according to the present invention.

[0022] Figure 2 This is a three-dimensional schematic diagram of a mobile unloading device in a bonding unloading robot arm for hydrogen fuel cell production of the present invention. Figure 1 .

[0023] Figure 3 This is a three-dimensional schematic diagram of a mobile unloading device in a bonding unloading robot arm for hydrogen fuel cell production of the present invention. Figure 2 .

[0024] Figure 4 yes Figure 3 A partial enlarged view of point A in the middle.

[0025] Figure 5It is the front view of the moving feeding device in the laminating and feeding robotic arm for hydrogen fuel cell production of the present invention.

[0026] Figure 6 is Figure 5 The sectional view at the B-B section in

[0027] Figure 7 is Figure 6 The partial enlarged view at C in

[0028] Figure 8 It is the three-dimensional schematic diagram of the feeding clamping component in the laminating and feeding robotic arm for hydrogen fuel cell production of the present invention.

[0029] Figure 9 It is the three-dimensional schematic diagram of the dust-removing and feeding device in the laminating and feeding robotic arm for hydrogen fuel cell production of the present invention.

[0030] Figure 10 It is the three-dimensional schematic diagram of the adsorption and cleaning device in the laminating and feeding robotic arm for hydrogen fuel cell production of the present invention.

[0031] Figure 11 is Figure 10 The partial enlarged view at D in

[0032] Figure 12 It is the three-dimensional schematic diagram of the dust-removing discharge head in the laminating and feeding robotic arm for hydrogen fuel cell production of the present invention.

[0033] Figure 13 It is the three-dimensional schematic diagram of the secondary dust-removing component in the laminating and feeding robotic arm for hydrogen fuel cell production of the present invention.

[0034] Figure 14 It is the three-dimensional schematic diagram of the fixed mounting seat in the laminating and feeding robotic arm for hydrogen fuel cell production of the present invention.

[0035] Figure 15 It is the three-dimensional schematic diagram of the sheet conveying device in the laminating and feeding robotic arm for hydrogen fuel cell production of the present invention.

[0036] The reference numerals in the figure are:

[0037] 1. Mobile robot arm; 2. Stacking limit frame; 21. Inspection port; 22. Limit feed port; 3. Clamping and regulating device; 31. Upper clamping frame; 32. Blocking clamping plate; 33. Pushing and switching assembly; 331. Elastic reset head; 3311. Mounting rod; 3312. First spring; 332. Synchronous regulating frame; 333. Pushing and resisting block; 334. First linear drive; 4. Feeding clamping assembly; 41. Mounting bracket; 42. Movable clamping joint; 421. Guide bevel; 422. Limit guide angle; 43. Second spring; 5. Fitting and pushing mechanism; 51. Horizontal push plate; 52. Second linear drive; 6. Visual inspection camera; 7. Dust removal and feeding device; 71. Adsorption Cleaning device; 711, push limiter; 7111, middle cleaning area; 7112, sheet material placement area; 7113, discharge port, 7114, mobile adsorption head; 712, push plug plate; 713, first screw slide; 714, second screw slide; 72, dust cleaning discharge head; 721, positioning column; 722, material guide channel; 723, secondary dust cleaning component; 7231, dust sticking roller; 7232, fixed mounting seat; 7233, movable seat; 7234, third spring; 73, sheet material conveying device; 731, material guide slide; 7311, sliding roller; 7322, conveyor belt; 732, pressure push plate; 733, third screw slide; 8, hydrogen plate; 9, air plate. DETAILED DESCRIPTION

[0038] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0039] See also Figures 1 to 15 As shown, a bonding and unloading robot arm for hydrogen fuel cell production includes a mobile unloading device installed on a mobile robot arm 1, the mobile unloading device includes a stacking limit frame 2, a plurality of limit feed ports 22 are provided on the side of the stacking limit frame 2, a stacking detection area is provided inside the stacking limit frame 2, a plurality of inspection ports 21 are provided on the side of the stacking detection area, a visual detection camera 6 is installed at each inspection port 21, a bonding pushing mechanism 5 for pushing the sheet material to move downward is installed above the stacking limit frame 2, a clamping and regulating device 3 is installed on the stacking limit frame 2, and the clamping and regulating device 3 is provided with two clamping ends for clamping the sheet material.

[0040] After the hydrogen electrode plate 8 and the air plate 9 to be fitted are subjected to dust cleaning treatment, they are inserted into the stacking limit frame 2 through the limit feeding port 22. During the insertion of the plate, the bottom of the hydrogen electrode plate 8 is blocked by the clamping end of the clamping and regulating device 3 and accurately stays at the designated inspection port 21 position to achieve horizontal positioning; the air plate 9 moves downward under the action of the fitting and pressing mechanism 5, the contact surface of the air plate 9 contacts the top of the hydrogen electrode plate 8, and then the pressing mechanism resets to form an initial fitting state. At this time, the fitting gap between the two plates is located in the area corresponding to the inspection port 21.

[0041] The vision detection camera 6 collects multi-view images of the fitting gap through the inspection port 21 and analyzes the size distribution of the gap based on the machine vision algorithm. When it is detected that the gap deviation exceeds the preset threshold, the system determines it as unqualified. At this time, the stacking limit frame 2 is driven by the moving robotic arm 1 to transfer the unqualified plate to the area to be processed to prevent it from flowing into the subsequent processes.

[0042] If the gap detection is qualified, the moving robotic arm 1 transfers the stacking limit frame 2 to the dispensing area. During this process, the clamping and regulating device 3 performs an action switch: releases the clamping of the hydrogen electrode plate 8 and simultaneously clamps and fixes both sides of the air plate 9. The hydrogen electrode plate 8 falls to the dispensing station under the action of gravity, and the dispensing device precisely coats the dispensing surface thereof based on the preset trajectory to ensure uniform glue volume and continuous glue line.

[0043] After the dispensing is completed, the moving robotic arm 1 positions the stacking limit frame 2 directly above the hydrogen electrode plate 8. The clamping and regulating device 3 releases the air plate 9, enabling it to fall to the dispensing surface of the hydrogen electrode plate 8 under the action of gravity. At the same time, the fitting and pressing mechanism 5 applies a controllable thrust to push the air plate 9 to move in the vertical direction to ensure close contact between the contact surfaces of the two plates. During this process, the clamping and regulating device 3 implements limit clamping on the side of the hydrogen electrode plate 8. After the precise fitting of the plates is completed, the pressing mechanism stops acting and resets. After the fitting is completed, the moving robotic arm 1 grabs the plate combination in the stacking limit frame 2 and transfers it to the storage area.

[0044] Through the fitting degree detection and dynamic regulation in the pre-installation stage, the consistency and reliability of the plate assembly are effectively improved, and the quality risk of insufficient connection strength caused by uneven gaps is reduced.

[0045] See Figures 1 to 7 As shown, the clamping and regulating device 3 includes upper clamping frames 31 installed on both sides of the stacking limit frame 2. A blocking clamping plate 32 is installed below each upper clamping frame 31. Both the blocking clamping plate 32 and the upper clamping frame 31 are slidably connected to the stacking limit frame 2. The clamping and regulating device 3 further includes a pressing and switching component 33 that drives the blocking clamping plate 32 and the upper clamping frame 31 to move telescopically.

[0046] Elastic contact surfaces are provided on the sides of both the blocking clamping plate 32 and the upper clamping frame 31.

[0047] When the hydrogen electrode plate 8 and the air plate 9 are inserted into the stacking detection area through the limit feeding port 22, the pushing and switching assembly 33 pre-drives the blocking and clamping plate 32 to extend inward along the slide rail, so that the blocking and clamping plate 32 contacts the bottom edge of the hydrogen electrode plate 8. Since the blocking and clamping plate 32 remains fixed, the hydrogen electrode plate 8 falls onto the surface of the blocking and clamping plate 32 under the action of gravity, realizing the initial positioning in the horizontal direction. The air plate 9 then continues to fall until the lower surface of the air plate 9 contacts the upper surface of the hydrogen electrode plate 8, forming a stacked state. At this time, the fitting and pushing mechanism 5 applies a preset initial thrust to the air plate 9 to make the two plate members initially fit. After the air plate 9 and the hydrogen electrode plate 8 are mutually fitted, the fitting and pushing mechanism 5 will reset to provide a stable detection reference for visual inspection.

[0048] When the visual inspection determines that the gap is qualified, the moving robotic arm 1 transfers the device to the dispensing area. The pushing and switching assembly 33 retracts the blocking and clamping plate 32 outward, and at the same time, the upper clamping frame 31 extends inward. During this process, the blocking and clamping plate 32 and the upper clamping frame 31 move synchronously to ensure a smooth force switching between the hydrogen electrode plate 8 and the air plate 9. When the blocking and clamping plate 32 is completely retracted to the initial position, the hydrogen electrode plate 8 loses support and falls to the dispensing station under the action of gravity. At the same time, the elastic contact surfaces of the upper clamping frame 31 are in close contact with the two side edges of the air plate 9, keeping the air plate 9 stationary.

[0049] After the dispensing process is completed, the moving robotic arm 1 resets the stacking limit frame 2 directly above the hydrogen electrode plate 8. The pushing and switching assembly 33 performs another action switch: the upper clamping frame 31 retracts outward, releasing the clamping force on the air plate 9, and the air plate 9 freely falls onto the dispensing surface of the hydrogen electrode plate 8 under the action of gravity. During the falling process of the air plate 9, the pushing and switching assembly 33 synchronously drives the blocking and clamping plate 32 to extend inward, and the elastic contact surface of the blocking and clamping plate 32 contacts the side edge of the hydrogen electrode plate 8. When the air plate 9 contacts the hydrogen electrode plate 8, the fitting and pushing mechanism 5 applies a thrust to push the air plate 9 to move in the vertical direction until the hydrogen electrode plate 8 and the air plate 9 are mutually fitted.

[0050] See Figures 1 to 7 As shown, the pushing and switching assembly 33 includes a plurality of elastic reset heads 331 distributed on the blocking and clamping plate 32 and the upper clamping frame 31. Each elastic reset head 331 is provided with a mounting rod 3311 that abuts against the stacking limit frame 2. A first spring 3312 is installed between the mounting rod 3311 and the elastic reset head 331. The pushing and switching assembly 33 further includes a synchronous control frame 332 that drives the elastic reset head 331 to move.

[0051] The push switching assembly 33 realizes the telescopic movement control of the blocking clamping plate 32 and the upper clamping frame 31 through the coordinated action of the synchronous control frame 332 and the elastic reset head 331, thereby achieving the switching of the clamping and releasing actions of the hydrogen plate 8 and the air plate 9.

[0052] In the push switching assembly 33, a plurality of elastic reset heads 331 are respectively installed on the blocking clamping plate 32 and the upper clamping frame 31, each elastic reset head 331 is provided with a mounting rod 3311 that contacts the stacking limit frame 2, and a first spring 3312 is installed between the mounting rod 3311 and the elastic reset head 331, thereby giving an elastic thrust to move outward to the blocking clamping plate 32 and the upper clamping frame 31. The synchronous control frame 332 is a core control component, and both ends of the synchronous control frame 332 are provided with push contact blocks 333, and each push contact block 333 is provided with two push bevels. The synchronous control frame 332 is lifted and lowered by a first linear driver 334, and maintains a sliding connection with the stacking limit frame 2.

[0053] In the specific working process, when it is necessary to adjust the blocking clamping plate 32 to move inside the stacking limit frame 2, the first linear driver 334 drives the synchronous adjustment frame 332 to descend. During the descent of the synchronous adjustment frame 332, the pushing angle on the pushing contact block 333 pushes the elastic reset head 331 on the blocking clamping plate 32, overcomes the outward elastic thrust of the elastic reset head 331 due to the first spring 3312, and makes the blocking clamping plate 32 overcome the elastic force and move inside the stacking limit frame 2 to achieve the blocking positioning of the hydrogen plate 8; at this time, the upper clamping frame 31 remains in the outward moving state under the elastic thrust of the elastic reset head 331, and does not participate in the clamping action of the air plate 9.

[0054] When it is necessary to adjust the upper clamping frame 31 to move inside the stacking limit frame 2, the first linear driver 334 drives the synchronous adjustment frame 332 to rise. During the rising process of the synchronous adjustment frame 332, the pushing angle on the pushing and abutting block 333 pushes the elastic reset head 331 on the upper clamping frame 31, overcomes the outward elastic thrust of the elastic reset head 331 generated by the first spring 3312, and makes the upper clamping frame 31 overcome the elastic force and move inside the stacking limit frame 2 to achieve the clamping and fixing of the air plate 9; at the same time, the blocking clamping plate 32 is reset outward under the elastic thrust of the elastic reset head 331, releasing the blockage of the hydrogen plate 8, so that the hydrogen plate 8 can fall to the dispensing station under the action of gravity.

[0055] See also Figures 3 to 8As shown, two feeding clamping components 4 are installed on the limiting feeding port 22. The feeding clamping component 4 includes a mounting bracket 41 installed on the side of the stacking limiting frame 2. Two movable clamping heads 42 extending towards the limiting feeding port 22 are installed on the mounting bracket 41. A guiding bevel 421 and a limiting bevel 422 are provided on the movable clamping head 42. A second spring 43 is installed between each movable clamping head 42 and the mounting bracket 41.

[0056] The feeding clamping component 4 is installed at the limiting feeding port 22. Through the coordinated action of the movable clamping head 42 and the second spring 43, the functions of guiding, making way and limiting during the insertion process of the hydrogen electrode plate 8 and the air plate 9 are realized, ensuring that the plate can accurately and stably enter the stacking limiting frame 2.

[0057] When the hydrogen electrode plate 8 and the air plate 9 after dust cleaning are inserted into the limiting feeding port 22, the edge of the plate first contacts the guiding bevel 421 of the movable clamping head 42. During the continuous insertion of the plate, the guiding bevel 421 is subjected to the extrusion force of the plate, driving the movable clamping head 42 to overcome the elastic force of the second spring 43 and generate a yielding movement. At this time, the second spring 43 is compressed, and a gap for the plate to pass through is formed between the movable clamping head 42 and the limiting feeding port 22, enabling the hydrogen electrode plate 8 and the air plate 9 to smoothly pass through the limiting feeding port 22 and enter the inside of the stacking limiting frame 2.

[0058] After the hydrogen electrode plate 8 and the air plate 9 completely enter the stacking limiting frame 2, the movable clamping head 42 is no longer subjected to the extrusion force of the plate. The elastic force of the second spring 43 pushes the movable clamping head 42 to reset and re-close the limiting feeding port 22. After the movable clamping head 42 is reset, the limiting bevel 422 plays a role in limiting and guiding, and during the subsequent descent of the plate, the edges of the hydrogen electrode plate 8 and the air plate 9 are limited and constrained to ensure that the plate stably descends vertically within the stacking limiting frame 2, providing an accurate plate position guarantee for the subsequent fitting and positioning and detection processes.

[0059] See Figures 1 to 6 As shown, the fitting and pressing mechanism 5 includes a horizontal push plate 51 installed inside the stacking limiting frame 2. The horizontal push plate 51 moves up and down inside the stacking limiting frame 2. A flexible layer and a first pressure sensor are also provided on the contact surface of the horizontal push plate 51.

[0060] The up and down movement of the horizontal push plate 51 is realized by a second linear actuator 52. When it is necessary to perform a pressing operation on the air plate 9, the second linear actuator 52 is started to push the horizontal push plate 51 to move downward in the vertical direction. During the movement, the contact surface of the horizontal push plate 51 contacts the air plate 9, and the pressing force is evenly transmitted to the air plate 9 through the flexible layer, pushing the air plate 9 to move downward so that its fitting surface contacts the top of the hydrogen electrode plate 8 to form an initial fitting state.

[0061] During the pushing process, the first pressure sensor continuously monitors the magnitude of the pushing force and feeds back the pressure data. The operation of the second linear actuator 52 is regulated according to a preset pressure threshold to ensure that the pushing force is always maintained within a safe and effective range, avoiding affecting the bonding quality of the plates due to excessive or insufficient pressure.

[0062] After the initial bonding of the air plate 9 and the hydrogen plate 8 is completed, the second linear actuator 52 stops driving, the horizontal push plate 51 stops moving and resets to its initial position, preparing for subsequent dispensing and precision bonding processes. After the dispensing is completed, the bonding and pushing mechanism 5 is started again. The horizontal push plate 51 moves downward under the push of the second linear actuator 52, applying a controllable thrust to the air plate 9, and pushing the air plate 9 to move further in the vertical direction to ensure that the bonding surfaces of the two plates are in close contact, completing the precision bonding of the plates.

[0063] See Figure 1 and Figure 9 As shown in, the moving material feeding device further includes a dust cleaning and feeding device 7 installed beside the moving robotic arm 1. The dust cleaning and feeding device 7 includes an adsorption and cleaning device 71. Plate material conveying devices 73 are provided on both sides of the adsorption and cleaning device 71, and a dust cleaning discharge head 72 is installed at the discharge end of the adsorption and cleaning device 71.

[0064] During the dust cleaning and feeding operation of the hydrogen plate 8 and the air plate 9, first, the stacking and limiting frame 2 is moved to the side of the dust cleaning discharge head 72 through the moving robotic arm 1, so that the limiting feeding port 22 is accurately docked with the discharge end of the dust cleaning discharge head 72. Subsequently, the staff separately place multiple stacked hydrogen plates 8 and air plates 9 into the corresponding plate material conveying devices 73.

[0065] The plate material conveying devices 73 are started, and according to a preset conveying rhythm, the stacked hydrogen plates 8 and air plates 9 are sequentially conveyed to both sides of the adsorption and cleaning device 71. During the conveying process, the bonding surfaces of the hydrogen plates 8 and the air plates 9 are kept close to the adsorption and cleaning device 71 for subsequent dust cleaning treatment.

[0066] When the hydrogen plates 8 and the air plates 9 reach the designated position of the adsorption and cleaning device 71, the adsorption and cleaning device 71 is started to perform efficient dust cleaning on the bonding surfaces of the plates. During the dust cleaning process, the adsorption and cleaning device 71 effectively removes pollutants such as dust and impurities on the plate surface through negative pressure adsorption, ensuring the cleanliness of the bonding surfaces of the plates.

[0067] After the dust cleaning process is completed, the adsorption and cleaning device 71 pushes the cleaned hydrogen electrode plate 8 and air plate 9 to the dust cleaning discharge head 72. The dust cleaning discharge head 72 has a guiding function and can guide the hydrogen electrode plate 8 and air plate 9 to be accurately inserted into the limiting feeding port 22 in the correct posture and position, and then enter the stacking limiting frame 2. The automatic dust cleaning and feeding operations of the hydrogen electrode plate 8 and air plate 9 are realized, effectively improving the feeding efficiency and accuracy. At the same time, the cleanliness of the plate parts during the fitting process is ensured, providing a strong guarantee for the high-quality fitting in the production of hydrogen fuel cells.

[0068] See Figures 9 to 11 As shown, the adsorption and cleaning device 71 includes a pushing and limiting tool 711. Inside the pushing and limiting tool 711, there is a middle cleaning area 7111. On both sides of the middle cleaning area 7111, there are plate material placement areas 7112. The middle cleaning area 7111 is connected to the plate material placement areas 7112. On one side of the plate material placement area 7112, there is a discharge port 7113. Inside the plate material placement areas 7112, there are push and insert plates 712 for pushing the plate materials to move. Inside the middle cleaning area 7111, there is a moving adsorption head 7114.

[0069] The moving adsorption head 7114 moves up and down in the middle cleaning area 7111 through the first screw rod slide 713, and the push and insert plate 712 moves horizontally through the second screw rod slide 714. The moving adsorption head 7114 is connected to a suction device, and the suction device is a prior art and will not be elaborated here.

[0070] When performing the dust cleaning process, first, the dust cleaning and feeding device 7 pushes the hydrogen electrode plate 8 and air plate 9 into the plate material placement areas 7112 on both sides of the adsorption and cleaning device 71 respectively. When both the hydrogen electrode plate 8 and air plate 9 move to the designated positions, the moving adsorption head 7114 in the middle cleaning area 7111 starts to work. The moving adsorption head 7114 realizes lifting movement through the first screw rod slide 713. During the movement, the moving adsorption head 7114 connected to the suction device generates a suction force, and this suction force acts on the fitting surface of the hydrogen electrode plate 8 and air plate 9, effectively adsorbing and removing pollutants such as dust and impurities on the surface of the plate parts.

[0071] After the dust cleaning process is completed, the push and insert plate 712 starts to act. The push and insert plate 712 realizes horizontal pushing movement through the second screw rod slide 714 and moves along the plate material placement area 7112 towards the discharge port 7113. The push and insert plate 712 pushes the cleaned hydrogen electrode plate 8 and air plate 9 through the dust cleaning discharge head 72 together and accurately enters the limiting feeding port 22 of the stacking limiting frame 2, completing the discharging operation of the plate parts. The high-efficiency dust cleaning of the fitting surface of the hydrogen electrode plate 8 and air plate 9 is realized.

[0072] See Figure 9 and Figure 12As shown in the figure, a positioning post 721 for guiding and stacking the limiting frame 2 is provided on the upper side of the dust cleaning and discharging head 72. A plurality of material guiding channels 722 are provided inside the dust cleaning and discharging head 72. An installation channel is further provided inside the dust cleaning and discharging head 72. The installation channel is communicated with the material guiding channels 722. A detachable secondary dust cleaning assembly 723 is installed inside the installation channel. The cleaning end of the secondary dust cleaning assembly 723 extends towards the material guiding channels 722.

[0073] The positioning post 721 provided on the upper side of the positioning and docking dust cleaning and discharging head 72 is used for stably and accurately docking with the stacking limiting frame 2, ensuring that the relative positions of the dust cleaning and discharging head 72 and the stacking limiting frame 2 are accurate during the subsequent feeding process, and providing a basis for accurately inserting the hydrogen electrode plate 8 and the air plate 9 into the limiting feeding port 22.

[0074] A plurality of material guiding channels 722 are provided inside the dust cleaning and discharging head 72. When the adsorption and cleaning device 71 pushes the cleaned hydrogen electrode plate 8 and air plate 9 to the dust cleaning and discharging head 72, the hydrogen electrode plate 8 and the air plate 9 will move along the material guiding channels 722. Under the guiding action of the material guiding channels 722, they are guided to the limiting feeding port 22 in the correct posture and position, and then enter the inside of the stacking limiting frame 2 to realize the automatic feeding operation.

[0075] An installation channel communicated with the material guiding channels 722 is further provided inside the dust cleaning and discharging head 72. A detachable secondary dust cleaning assembly 723 is installed in the installation channel, and the cleaning end of the secondary dust cleaning assembly 723 extends towards the material guiding channels 722. During the process of the hydrogen electrode plate 8 and the air plate 9 passing through the material guiding channels 722, they will contact the secondary dust cleaning assembly 723, and the secondary dust cleaning assembly 723 performs secondary dust cleaning on the hydrogen electrode plate 8 and the air plate 9, further improving the cleaning effect of the hydrogen electrode plate 8 and the air plate 9, ensuring the cleanliness during the fitting process of the plate parts, and providing a strong guarantee for the high-quality fitting in the production of hydrogen fuel cells.

[0076] See Figure 12 and Figure 14 As shown in the figure, the secondary dust cleaning assembly 723 includes two fixed mounting seats 7232. The two fixed mounting seats 7232 are respectively installed at the upper and lower ends of the installation channel. Two movable seats 7233 are provided on each fixed mounting seat 7232. A third spring 7234 is installed between each movable seat 7233 and the fixed mounting seat 7232. Dust sticking rollers 7231 are installed on the movable seats 7233.

[0077] Two fixed mounting seats 7232 are respectively detachably mounted at the upper and lower ends of the mounting channel. Two movable seats 7233 are provided on each fixed mounting seat 7232. A third spring 7234 is used to connect the movable seat 7233 and the fixed mounting seat 7232, so that the movable seat 7233 has the ability to perform elastic contraction movement on the fixed mounting seat 7232. A dust sticking roller 7231 is mounted on the movable seat 7233. The dust sticking roller 7231 serves as an execution component for secondary dust cleaning and is used to directly contact and clean the hydrogen electrode plate 8 and the air plate 9.

[0078] When the hydrogen electrode plate 8 and the air plate 9 pass through the material guiding channel 722 of the dust cleaning and discharging head 72, they will contact the dust sticking roller 7231 installed in the extending direction of the material guiding channel 722. Since the movable seat 7233 and the fixed mounting seat 7232 are connected by a third spring 7234, during the process of the dust sticking roller 7231 contacting the contact surface of the hydrogen electrode plate 8 and the air plate 9, the dust sticking roller 7231 will perform an adaptive contraction movement according to the thickness and surface unevenness of the plate. This elastic contraction movement ensures that the dust sticking roller 7231 can closely fit the contact surface of the hydrogen electrode plate 8 and the air plate 9, thereby effectively adhering and removing the dust and impurities remaining on the surface of the plate, achieving the effect of secondary cleaning.

[0079] The fixed mounting seat 7232 adopts a detachable mounting method, which is convenient for the staff to disassemble and replace the dust sticking roller 7231 when needed. When the dust sticking effect of the dust sticking roller 7231 decreases or it is damaged due to long-term use, the staff can conveniently disassemble the fixed mounting seat 7232 and replace the dust sticking roller 7231 to ensure that the secondary dust cleaning assembly 723 always maintains a good working state and ensures the cleaning effect of the hydrogen electrode plate 8 and the air plate 9.

[0080] See Figure 9 and Figure 15 As shown, the sheet conveying device 73 includes a material guiding slide rail 731 for limiting and placing the sheet. A horizontally moving pressing push plate 732 is installed inside the material guiding slide rail 731, and a second pressure sensor is installed on the pressing push plate 732.

[0081] The pressing push plate 732 moves horizontally through a third lead screw slide 733. A plurality of sliding rollers 7311 are provided at the bottom of the material guiding slide rail 731, and a conveyor belt 7322 is sleeved outside the sliding rollers 7311. The conveyor belt 7322 is used to support the sheet.

[0082] The material guiding slide rail 731 is used to limit and place the hydrogen electrode plate 8 or the air plate 9, providing a stable storage space for the sheet material and guiding the moving direction of the sheet material. The conveyor belt 7322 is arranged at the bottom of the material guiding slide rail 731 and is used to support the sheet material, playing a supporting role during the movement of the sheet material. The pressing push plate 732 is installed inside the material guiding slide rail 731 and realizes horizontal movement through the third lead screw slide table 733. After the hydrogen electrode plate 8 or the air plate 9 is placed in the material guiding slide rail 731, the third lead screw slide table 733 is started to drive the pressing push plate 732 to perform horizontal pushing and pressing movement. During the movement of the pressing push plate 732, it will push the hydrogen electrode plate 8 or the air plate 9 to move horizontally along the material guiding slide rail 731 to realize the conveying of the sheet material. During the movement of the sheet material, the conveyor belt 7322 at its bottom will move accordingly. The conveyor belt 7322 is connected to the bottom of the material guiding slide rail 731 through the sliding rollers 7311 to form a continuous supporting surface. The movement of the conveyor belt 7322 effectively reduces the friction force at the bottom when the hydrogen electrode plate 8 or the air plate 9 moves, ensuring that the sheet material can move smoothly and stably. A second pressure sensor is installed on the pressing push plate 732 to detect the pushing force in real time. During the process of the pressing push plate 732 pushing the sheet material to move, the second pressure sensor continuously monitors the magnitude of the pushing force to ensure that the pushing force is within the safe range and avoid damaging the hydrogen electrode plate 8 or the air plate 9 due to excessive applied pressure.

[0083] Specific working principle:

[0084] After the hydrogen electrode plate 8 and the air plate 9 to be bonded are subjected to dust cleaning treatment, they are inserted into the stacking and limiting frame 2 through the limit feeding port 22. During the insertion of the plate parts, the bottom of the hydrogen electrode plate 8 is blocked by the clamping end of the clamping and regulating device 3 and accurately stays at the specified inspection port 21 position to realize horizontal positioning; the air plate 9 moves downward under the action of the bonding and pressing mechanism 5, and the bonding surface of the air plate 9 contacts the top of the hydrogen electrode plate 8, and then the pressing mechanism resets to form an initial bonding state. At this time, the bonding gap between the two plate parts is located in the area corresponding to the inspection port 21.

[0085] The vision detection camera 6 collects multi-view images of the bonding gap through the inspection port 21 and analyzes the size distribution of the gap based on the machine vision algorithm. When it is detected that the gap deviation exceeds the preset threshold, the system determines it as unqualified. At this time, the stacking and limiting frame 2 is driven by the moving robotic arm 1 to transfer the unqualified plate parts to the area to be processed to prevent them from flowing into the subsequent processes.

[0086] If the gap detection is qualified, the moving robotic arm 1 transfers the stacking and limiting frame 2 to the dispensing area. During this process, the clamping and regulating device 3 executes action switching: releases the clamping of the hydrogen electrode plate 8 and simultaneously clamps and fixes both sides of the air plate 9. The hydrogen electrode plate 8 falls to the dispensing station under the action of gravity, and the dispensing equipment precisely coats the dispensing surface based on the preset trajectory to ensure uniform glue amount and continuous glue line.

[0087] After dispensing, the robotic arm 1 moves to position the stacking limit frame 2 directly above the hydrogen electrode plate 8. The clamping and control device 3 releases the air plate 9, allowing it to fall under gravity onto the dispensing surface of the hydrogen electrode plate 8. At the same time, the fitting and pressing mechanism 5 applies a controllable thrust to push the air plate 9 to move in the vertical direction, ensuring close contact between the mating surfaces of the two plates. During this process, the clamping and control device 3 limits and clamps the side of the hydrogen electrode plate 8. After the precise fitting of the plates is completed, the pressing mechanism stops operating and resets. After the fitting is completed, the robotic arm 1 grabs the plate assembly within the stacking limit frame 2 and transfers it to the storage area.

[0088] Through the fitting degree detection and dynamic regulation in the pre-installation stage, the consistency and reliability of plate assembly are effectively improved, and the quality risk of insufficient connection strength caused by uneven gaps is reduced.

[0089] The above embodiments only represent one or several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A fitting and feeding robotic arm for hydrogen fuel cell production, comprising a mobile feeding device installed on a mobile robotic arm (1), characterized in that, The mobile unloading device comprises a stacking limit frame (2), a plurality of limit feed ports (22) are provided on the side of the stacking limit frame (2), a stacking detection area is provided inside the stacking limit frame (2), a plurality of inspection ports (21) are provided on the side of the stacking detection area, a visual inspection camera (6) is installed at each inspection port (21), a fitting pushing mechanism (5) for pushing the sheet material to move downward is installed above the stacking limit frame (2), and a clamping control device (3) is installed on the stacking limit frame (2), and the clamping control device (3) is provided with two clamping ends for clamping the sheet material.

2. The laminating and feeding robotic arm for hydrogen fuel cell production according to claim 1, wherein The clamping and regulating device (3) comprises upper clamping frames (31) mounted on both sides of the stacking limit frame (2), a blocking clamping plate (32) being mounted below each upper clamping frame (31), the blocking clamping plate (32) and the upper clamping frame (31) being slidably connected to the stacking limit frame (2), and the clamping and regulating device (3) further comprises a pushing and switching assembly (33) for driving the blocking clamping plate (32) and the upper clamping frame (31) to telescopically move.

3. The laminating and feeding robotic arm for hydrogen fuel cell production according to claim 2, characterized in that, The push-switch assembly (33) comprises a plurality of elastic reset heads (331) distributed on the blocking clamping plate (32) and the upper clamping frame (31), each elastic reset head (331) being provided with a mounting rod (3311) abutting against the stacking limit frame (2), a first spring (3312) being installed between the mounting rod (3311) and the elastic reset head (331), and the push-switch assembly (33) further comprising a synchronous control frame (332) for pushing the elastic reset head (331) to move.

4. A fitting and feeding robotic arm for hydrogen fuel cell production according to claim 1, wherein, Two feed clamping assemblies (4) are mounted on the limited feed opening (22). The feed clamping assemblies (4) include a mounting bracket (41) mounted on the side of the stacking limited frame (2). Two movable clamping joints (42) extending toward the limited feed opening (22) are mounted on the mounting bracket (41). The movable clamping joints (42) are provided with guide bevels (421) and limited guide angles (422). A second spring (43) is mounted between each movable clamping joint (42) and the mounting bracket (41).

5. The laminating and feeding robotic arm for hydrogen fuel cell production according to claim 1, characterized in that, The fitting pushing mechanism (5) comprises a horizontal push plate (51) installed inside the stacking limit frame (2); the horizontal push plate (51) moves up and down inside the stacking limit frame (2); and a flexible layer and a first pressure sensor are also provided on the contact surface of the horizontal push plate (51).

6. The bonding and feeding robotic arm for hydrogen fuel cell production according to claim 1, wherein The mobile discharge device also includes a dust cleaning and loading device (7) installed beside the mobile mechanical arm (1), the dust cleaning and loading device (7) includes an adsorption cleaning device (71), both sides of the adsorption cleaning device (71) are provided with a sheet material conveying device (73), and the discharge end of the adsorption cleaning device (71) is provided with a dust cleaning discharge head (72).

7. A laminating and feeding robotic arm for hydrogen fuel cell production according to claim 6, characterized in that, The adsorption and cleaning device (71) includes a pushing and limiting tool (711). Inside the pushing and limiting tool (711), there is a middle cleaning area (7111). On both sides of the middle cleaning area (7111), there are sheet placing areas (7112). The middle cleaning area (7111) is connected to the sheet placing areas (7112). On one side of the sheet placing area (7112), there is a discharge port (7113). Inside the sheet placing area (7112), there are push-in plates (712) installed to push the sheets to move. Inside the middle cleaning area (7111), there is a moving adsorption head (7114).

8. The laminating and feeding robotic arm for hydrogen fuel cell production according to claim 6, wherein, On the upper side of the dust cleaning and discharging head (72), there are positioning columns (721) for guiding and stacking the limiting frame (2). Inside the dust cleaning and discharging head (72), there are multiple material guiding channels (722). Inside the dust cleaning and discharging head (72), there is also an installation channel, which is connected to the material guiding channels (722). Inside the installation channel, there is a detachable secondary dust cleaning component (723), and the cleaning end of the secondary dust cleaning component (723) extends towards the material guiding channels (722).

9. The laminating and feeding robotic arm for hydrogen fuel cell production according to claim 8, characterized in that, The secondary dust cleaning component (723) includes two fixed mounting seats (7232), which are respectively installed at the upper and lower ends of the installation channel. On each fixed mounting seat (7232), there are two movable seats (7233). Between each movable seat (7233) and the fixed mounting seat (7232), there is a third spring (7234) installed. On the movable seats (7233), there are dust sticking rollers (7231) installed.

10. The laminating and feeding robotic arm for hydrogen fuel cell production according to claim 6, characterized in that, The sheet conveying device (73) includes a material guiding slide rail (731) for limiting and placing the sheets. Inside the material guiding slide rail (731), there is a horizontally moving pressing push plate (732) installed, and a second pressure sensor is installed on the pressing push plate (732).

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